The invention discloses a tunnel prefabricated under-rail structural assembling trolley and a control system thereof. The tunnel prefabricated under-rail structural assembling trolley comprises a frame, supporting legs, fixing rods, driving wheels, supporting wheels, driving rails, a hoisting mechanism and a controller, wherein the hoisting mechanism is used for hoisting a tunnel prefabricated assembly structure; and the supporting legs are hinged to the two ends of the frame in the length direction, one end of each fixing rod is fixedly connected to the frame, and the other end of each fixingrod is fixedly connected to the corresponding supporting leg; each supporting wheel and the corresponding driving wheel are fixed to the bottom of the corresponding supporting leg, the driving railsare arranged on the frame, and the hoisting mechanism is arranged on the driving rails; and the driving wheels and the hoisting mechanism are in communication connection with the controller. The control system of the tunnel prefabricated under-rail structural assembling trolley comprises a power supply system, a control system, a communication system, a safety protection system and the trolley. The trolley and the control system are simple in structure, convenient to install, reasonable in design, convenient to operate, stable and reliable in structure and wide in application range.